UR3 Support

2026-04-10 18:10:47 +02:00 · 2015-10-06 17:14:59 +02:00
parent 22e7d799c2
commit 58361900b8
4 changed files with 190 additions and 0 deletions
--- a/config/ur3_controllers.yaml
+++ b/config/ur3_controllers.yaml
@@ -0,0 +1,97 @@
+# Currently simply a copy of ur5_controllers.yaml
+
+# Settings for ros_control control loop
+hardware_control_loop:
+   loop_hz: 125
+
+# Settings for ros_control hardware interface
+hardware_interface:
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+
+# Publish all joint states ----------------------------------
+joint_state_controller:
+   type:         joint_state_controller/JointStateController
+   publish_rate: 125
+
+# Publish wrench ----------------------------------
+force_torque_sensor_controller:
+   type:         force_torque_sensor_controller/ForceTorqueSensorController
+   publish_rate: 125
+
+# Joint Trajectory Controller - position based -------------------------------
+# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
+position_based_position_trajectory_controller:
+   type: position_controllers/JointTrajectoryController
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+      elbow_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate:  125
+   action_monitor_rate: 10
+   gains:
+      #!!These values have not been optimized!!
+      shoulder_pan_joint: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
+      shoulder_lift_joint: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
+      elbow_joint: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
+      wrist_1_joint: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
+      wrist_2_joint: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
+      wrist_3_joint: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
+
+   # state_publish_rate:  50 # Defaults to 50
+   # action_monitor_rate: 20 # Defaults to 20
+   #hold_trajectory_duration: 0 # Defaults to 0.5
+
+# Joint Trajectory Controller - velocity based -------------------------------
+# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
+velocity_based_position_trajectory_controller:
+   type: velocity_controllers/JointTrajectoryController
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
+      elbow_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate:  125
+   action_monitor_rate: 10
+   gains:
+      #!!These values have not been optimized!!
+      shoulder_pan_joint: {p: 50.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      shoulder_lift_joint: {p: 50.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      elbow_joint: {p: 50.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      wrist_1_joint: {p: 50.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      wrist_2_joint: {p: 50.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      wrist_3_joint: {p: 50.0,  i: 0.0, d: 0.1, i_clamp: 1}
+
+   # state_publish_rate:  50 # Defaults to 50
+   # action_monitor_rate: 20 # Defaults to 20
+   #hold_trajectory_duration: 0 # Defaults to 0.5